agv常用请求接口实体和和设备参数获取
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lsymicc
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package com.ruoyi.schedule.scheduleTask;
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import cn.hutool.http.HttpRequest;
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import cn.hutool.http.HttpResponse;
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import com.alibaba.fastjson2.JSON;
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import com.ruoyi.common.Constant;
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import com.ruoyi.common.utils.StringUtils;
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import com.ruoyi.device.agv.domain.genAgvSchedulingTask.GenAgvSchedulingTaskRequest;
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import com.ruoyi.device.agv.domain.genAgvSchedulingTask.GenAgvSchedulingTaskResponse;
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import com.ruoyi.schedule.job.mydojob.domain.MydoJob;
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import lombok.extern.slf4j.Slf4j;
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import org.springframework.stereotype.Component;
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import java.util.List;
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/**
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* 向AGV/CTU下发指令
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*/
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@Component
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@Slf4j
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public class Execution {
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/**
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* 查询是否有wcs任务
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*/
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// @PostConstruct
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public List<MydoJob> getmydoJob(){
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String url = Constant.BASEURL + "/job/inmydoJob/listAll";
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HttpResponse response = HttpRequest.get(url).execute();
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List<MydoJob> mydoJobs = JSON.parseArray(response.body(), MydoJob.class);
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return mydoJobs;
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}
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/**
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* 向AGV/CTU请求下发指令
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* @param request 请求对象
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* @return
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*/
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public boolean sendCommand(GenAgvSchedulingTaskRequest request) {
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//下发校验
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if (checkForSendCommand(request)) return false;
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String jsonString = JSON.toJSONString(request);
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//请求源数据输出日志
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log.info("【下发设备指令】" + jsonString);
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//请求接口
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HttpResponse response = HttpRequest.post(Constant.BASEURL_REST + "genAgvSchedulingTask")
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.body(jsonString)
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.header("Content-Type", "application/json")
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.execute();
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//获取响应对象
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GenAgvSchedulingTaskResponse genAgvSchedulingTaskResponse = JSON.parseObject(response.body(), GenAgvSchedulingTaskResponse.class);
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//返回请求编号校验
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if (genAgvSchedulingTaskResponse.getReqCode() != request.getReqCode()) {
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log.error("【下发设备任务】下发任务失败，请求编号错误不一致！");
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return false;
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}
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//返回码
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if (genAgvSchedulingTaskResponse.getCode() == 0 ) {
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return true;
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}else {
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log.error("【下发设备任务】下发任务失败，" + genAgvSchedulingTaskResponse.getMessage() + "!");
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return false;
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}
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}
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/**
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* 下发指令校验
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* @param request
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* @return
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*/
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public boolean checkForSendCommand(GenAgvSchedulingTaskRequest request){
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//todo：请求信息校验
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//1.reqCode空
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if (StringUtils.isBlank(request.getReqCode())){
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log.warn("【生成AGV任务请求接口】---请求异常，reqCode为空！---");
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return false;
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}
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//2.wbCode和positionCodePath至少填写其中一项，以确定任务中的位置信息。若任务中需要指定多个位置信息，如起点和终点信息等，请使用positionCodePath
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if (StringUtils.isBlank(request.getWbCode()) && request.getPositionCodePath().size() < 1){
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log.warn("【生成AGV任务请求接口】---请求异常，wbCode和positionCodePath至少填写其中一项！---");
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return false;
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}
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//3.当前区域AGV/CTU是否已存在任务
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//todo 请求获取设备状态
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if (true){
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log.warn("【生成AGV任务请求接口】---当前设备已存在执行中的任务！---");
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return false;
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}
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//4.请求编号一致时避免重复下发
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return true;
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}
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}
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@@ -0,0 +1,99 @@
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package com.ruoyi.schedule.scheduleTask;
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import cn.hutool.http.HttpRequest;
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import cn.hutool.http.HttpResponse;
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import com.alibaba.fastjson2.JSON;
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import com.ruoyi.common.Constant;
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import com.ruoyi.common.utils.StringUtils;
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import com.ruoyi.device.agv.domain.genAgvSchedulingTask.GenAgvSchedulingTaskRequest;
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import com.ruoyi.device.agv.domain.genAgvSchedulingTask.PositionCodeData;
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import com.ruoyi.schedule.data.ConvConnection;
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import com.ruoyi.schedule.plc.domain.ConvPTLInRead;
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import com.ruoyi.schedule.plc.domain.ConvPTLOutRead;
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import com.ruoyi.schedule.task.domain.WcsTask;
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import com.ruoyi.schedule.task.service.IWcsTaskService;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.stereotype.Component;
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import java.util.ArrayList;
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import java.util.List;
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/**
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* 获取任务生成AGV指令
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*/
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@Component
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public class Generation {
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@Autowired
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ConvConnection conv;
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@Autowired
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Execution execution;
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IWcsTaskService iWcsTaskService;
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//获取PTL拣选工位入口状态
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public List<ConvPTLInRead> getConvPTLInRead() {
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List<ConvPTLInRead> convPTLInReads=conv.getConvPTLIn();
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for (int i = 0; i < convPTLInReads.size(); i++) {
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//设备空闲 && 输送机任务号空
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if (convPTLInReads.get(i).getFree() == 1 && StringUtils.isBlank(convPTLInReads.get(i).getTaskId())){
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}
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}
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return convPTLInReads;
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}
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//=========================获取PTL拣选工位出口状态---【CTU入库】=========================
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// @Scheduled(cron = "*/2 * * * * *")
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public List<ConvPTLOutRead> getConvPTLOutRead() {
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List<ConvPTLOutRead> convPTLOutReads = conv.getConvPTLOut();
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//轮询输送机状态
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for (int i = 0; i < convPTLOutReads.size(); i++) {
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//条码不为空 && 存在任务号 && 设备占用（非空闲）
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if (StringUtils.isBlank(convPTLOutReads.get(i).getPalletId()) && StringUtils.isBlank(convPTLOutReads.get(i).getTaskId()) && convPTLOutReads.get(i).getFree() == 0) {
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//查找mydoJob是否存在该条码的任务
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//todo 有无其他任务字段校验
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HttpResponse response = HttpRequest.get(Constant.BASEURL + "/job/inmydoJob/getTaskCount").execute();
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Integer count = JSON.parseObject(response.body(), Integer.class);
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WcsTask task = new WcsTask();
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iWcsTaskService.insertWcsTask(task);
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//存在当前托盘条码的任务
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if (count > 0){
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//生成请求数据
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GenAgvSchedulingTaskRequest request = new GenAgvSchedulingTaskRequest();
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request.setTaskTyp("F12");
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//添加路径测试
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List<PositionCodeData> path = new ArrayList<PositionCodeData>(2);
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path.add(new PositionCodeData("G1001","05"));
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path.add(new PositionCodeData("010101","05"));
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request.setPositionCodePath(path);
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execution.sendCommand(request);
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}
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}
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}
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return convPTLOutReads;
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}
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}
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